Elevate peaceful contact order to no-contact order / permanent restraining order

It is possible but I would seek assistance from counsel to maximize your chances of success.

It sounds like you are asking if the outcome after a hearing could differ from the temporary orders issued upon an ex parte request. If so, then the answer is a resounding YES. On ex parte requests, the court often has only one side's story. They will err on the side of caution, both as to protecting endangered persons and safeguarding the other party's right to due process. At the hearing, there will be testimony and possibly other evidence, and the outcome can easily differ from the ex parte orders.